FridgeKinematics:
- Added class to perform forward and inverse kinematics.
- Added basic test to hand verify results.
- Added claw fridge collision check by Mr. Schuh.
- Revered code review changes that broke the math.
- Added tests for collision from Mr. Schuh.
- Constants are working, thanks Brian.
- Added velocity calculation based on jacobian.
Change-Id: Iba752fbe6ebecca6dfd3102b23c8aebc3cc652a2
diff --git a/aos/common/util/util.gyp b/aos/common/util/util.gyp
index e9a37c9..f60622e 100644
--- a/aos/common/util/util.gyp
+++ b/aos/common/util/util.gyp
@@ -149,5 +149,34 @@
'<(EXTERNALS):gtest',
],
},
+ {
+ 'target_name': 'kinematics',
+ 'type': 'static_library',
+ 'sources': [
+ #'kinematics.h',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):eigen',
+ '<(DEPTH)/frc971/frc971.gyp:constants',
+ ],
+ 'export_dependent_settings': [
+ '<(EXTERNALS):eigen',
+ '<(DEPTH)/frc971/frc971.gyp:constants',
+ ],
+ },
+ {
+ 'target_name': 'kinematics_test',
+ 'type': 'executable',
+ 'sources': [
+ 'kinematics_test.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):gtest',
+ '<(AOS)/common/common.gyp:queue_testutils',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:team_number_test_environment',
+ 'kinematics'
+ ],
+ },
],
}